Tuning Steperonline A6 Servos

Please follow these steps for tuning:
1. Set C00.04=0 to switch to manual mode.
2. Confirm the inertia ratio (using the drive's automatic inertia identification function).
3. Fine-tune the speed loop (C01.01, C01.02):
Gradually increase C01.01 until slight noise or vibration occurs, then back it off by 15–20%;
Gradually decrease C01.02 to eliminate steady-state speed error, but do not set it too low, or low-speed creeping/oscillation may occur.
4. Fine-tune the position loop (C01.00):
Gradually increase the value to shorten positioning time and reduce tracking error; if overshoot occurs, back it off by 10–15%.
5. Acceleration feedforward + velocity feedforward.
6. Adjust friction compensation:
Measure the friction torque in both the forward and reverse directions separately, then input the values.
However, at the 0.001mm (1μm) level, mechanical factors often limit precision more than electrical parameters—such as leadscrew backlash, thermal expansion, structural rigidity, and uneven guideway friction. If the steady-state accuracy remains stuck at a certain value after manual fine-tuning, it is likely a mechanical bottleneck that cannot be resolved by gain adjustments.

Hi Stepperonline Thank you very much for the guide, and a warm welcome to the forum. I hope you’ll be able to help us with any questions we have on the forum.